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Due to the faster-is-slower phenomenon in emergency escape, it is desirable to regulate pedestrian flow at the exit or a bottleneck. Modification of pedestrian facilities was previously studied to increase the efficiency and safety by the transportation community. We propose a robot-assisted pedestrian regulation scheme and study passive human-robot interaction (HRI), where the robot acts as a dynamic...
<?Pub Dtl?>Despite the increasing importance of robotics, there is a significant challenge involved in teaching this to undergraduate students in biomedical engineering (BME) and other related disciplines in which robotics techniques could be readily applied. This paper addresses this challenge through the development and pilot testing of a bio-microrobotics case study that can be integrated...
We study the multi-robot synchronization on a segment. The goal is for each robot to move along a subsegment of equal length in equal time interval with potential impacts. To achieve the synchronization, we propose a decentralized algorithm by designing impact law, which does not depend on the position of the robot, but on the time information. Specifically, ??the time interval between two consecutive...
We study optimal trajectory generation for nonholonomic mobile robots in the presence of moving obstacles. The trajectory is presented by a parameterized higher-order polynomial and is feasible for car-like robots whose motion is nonholonomic. An optimal performance index is set up so that the parameterized trajectory stays close to the shortest straight-line path. Combining with the collision avoidance...
We consider the problem of generating global feasible trajectories for nonholonomic mobile robots in the presence of moving obstacles. The global trajectory is composed of regional path segments, which are parametric polynomials incorporating collision avoidance criteria. Collision avoidance with moving obstacles is achieved by changing parameters of the regional trajectories, and the collision avoidance...
This paper describes our efforts in building an experimental platform to conduct research on cooperative driving in intelligent transportation systems (ITS). A miniature vehicle is developed based on the COTS-BOTS robot and an overhead vision system is used to localize the vehicles. The single lane tracking control algorithm is described first. To control multiple vehicles to drive through an intersection...
We study the problem of generating continuous steering control for robots to completely cover a bounded region over a finite time. First, we pack the area by disks of minimum number, and then a neural network based path planning method is adopted to generate complete coverage paths avoiding collisions with stationary and moving objects. Smooth trajectory is developed using parametric polynomial approximation,...
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